\hypertarget{structTask}{}\doxysection{Task Struct Reference}
\label{structTask}\index{Task@{Task}}


This class descibes a task in the form\+: dx = J dq.  




{\ttfamily \#include $<$priority\+\_\+tasks.\+h$>$}

\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\hyperlink{structTask_a26c2d4aaae7802df6c392ef1b4d38ab0}{Task}} (std\+::string name)
\begin{DoxyCompactList}\small\item\em Construct a new \mbox{\hyperlink{structTask}{Task}} object. \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{structTask_a36551b2c460ad511f54cbf203e309917}\label{structTask_a36551b2c460ad511f54cbf203e309917}} 
std\+::string \mbox{\hyperlink{structTask_a36551b2c460ad511f54cbf203e309917}{task\+Name}}
\begin{DoxyCompactList}\small\item\em task name \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_a1bdc8139dd647f9701e9f43e588749d7}\label{structTask_a1bdc8139dd647f9701e9f43e588749d7}} 
int \mbox{\hyperlink{structTask_a1bdc8139dd647f9701e9f43e588749d7}{id}}
\begin{DoxyCompactList}\small\item\em task id \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_a5590dd70434313e8f8e91444938121aa}\label{structTask_a5590dd70434313e8f8e91444938121aa}} 
int \mbox{\hyperlink{structTask_a5590dd70434313e8f8e91444938121aa}{parent\+Id}}
\begin{DoxyCompactList}\small\item\em parent task id (higher priority) \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_a2fdbb8808a56ca96cbdec1a337bc5953}\label{structTask_a2fdbb8808a56ca96cbdec1a337bc5953}} 
int \mbox{\hyperlink{structTask_a2fdbb8808a56ca96cbdec1a337bc5953}{child\+Id}}
\begin{DoxyCompactList}\small\item\em child task id (lower priority) \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_af16fe27c5fb197cdca58d731444008fc}\label{structTask_af16fe27c5fb197cdca58d731444008fc}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structTask_af16fe27c5fb197cdca58d731444008fc}{dx\+Des}}
\begin{DoxyCompactList}\small\item\em desired dx (x derivative) \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_aacbb050b3a51a6a40fe7623ceb6240b8}\label{structTask_aacbb050b3a51a6a40fe7623ceb6240b8}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structTask_aacbb050b3a51a6a40fe7623ceb6240b8}{ddx\+Des}}
\begin{DoxyCompactList}\small\item\em desired ddx (dx derivative) \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_aa67cd59077f77263c12c0a63c7d6dd8b}\label{structTask_aa67cd59077f77263c12c0a63c7d6dd8b}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structTask_aa67cd59077f77263c12c0a63c7d6dd8b}{delta\+\_\+q}}
\begin{DoxyCompactList}\small\item\em desired delta q to fullfill the task \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_aff4c90e3b2dec84c5dd2ddfa602c3337}\label{structTask_aff4c90e3b2dec84c5dd2ddfa602c3337}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structTask_aff4c90e3b2dec84c5dd2ddfa602c3337}{dq}}
\begin{DoxyCompactList}\small\item\em desired dq to fullfill the task \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_a07b71cab2a0637fafa619210411e7e6b}\label{structTask_a07b71cab2a0637fafa619210411e7e6b}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structTask_a07b71cab2a0637fafa619210411e7e6b}{ddq}}
\begin{DoxyCompactList}\small\item\em desired ddq to fullfill the task \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_ab6d748e8c9848d62651c6f69959d44e1}\label{structTask_ab6d748e8c9848d62651c6f69959d44e1}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structTask_ab6d748e8c9848d62651c6f69959d44e1}{J}}
\begin{DoxyCompactList}\small\item\em task jacobian matrix \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_af030b739b982580e161a18fd9781bc19}\label{structTask_af030b739b982580e161a18fd9781bc19}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structTask_af030b739b982580e161a18fd9781bc19}{dJ}}
\begin{DoxyCompactList}\small\item\em task jacobian matrix time viriant \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_a4a3821db687db14af77c7eeae7d6ba27}\label{structTask_a4a3821db687db14af77c7eeae7d6ba27}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structTask_a4a3821db687db14af77c7eeae7d6ba27}{Jpre}}
\begin{DoxyCompactList}\small\item\em task jacobian including all the tasks with higher priority \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_a3077b191fb5b8d5ace12c7222dae2490}\label{structTask_a3077b191fb5b8d5ace12c7222dae2490}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structTask_a3077b191fb5b8d5ace12c7222dae2490}{N}}
\begin{DoxyCompactList}\small\item\em null space matrix \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_ab528b295f73bc2dcae252afe559d1a21}\label{structTask_ab528b295f73bc2dcae252afe559d1a21}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structTask_ab528b295f73bc2dcae252afe559d1a21}{kp}}
\begin{DoxyCompactList}\small\item\em position gain to compensate error in desired acceleration \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_a3b9e7af65942b491c076cc22de4f89d9}\label{structTask_a3b9e7af65942b491c076cc22de4f89d9}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structTask_a3b9e7af65942b491c076cc22de4f89d9}{kd}}
\begin{DoxyCompactList}\small\item\em velocity gain to compensate error in desired acceleration \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_a3ab283c32201b1d05812dfb66cc524d9}\label{structTask_a3ab283c32201b1d05812dfb66cc524d9}} 
Eigen\+::\+Diagonal\+Matrix$<$ double, -\/1 $>$ \mbox{\hyperlink{structTask_a3ab283c32201b1d05812dfb66cc524d9}{W}}
\begin{DoxyCompactList}\small\item\em weighted matrix for pseudo inverse \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_a95bd196967c9670c42cbcc4902dd6314}\label{structTask_a95bd196967c9670c42cbcc4902dd6314}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structTask_a95bd196967c9670c42cbcc4902dd6314}{errX}}
\begin{DoxyCompactList}\small\item\em error in task object X \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structTask_ae935da3dcfe3783f5a5b4c1696e940be}\label{structTask_ae935da3dcfe3783f5a5b4c1696e940be}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structTask_ae935da3dcfe3783f5a5b4c1696e940be}{derrX}}
\begin{DoxyCompactList}\small\item\em error in X derivative \end{DoxyCompactList}\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
This class descibes a task in the form\+: dx = J dq. 



Definition at line 20 of file priority\+\_\+tasks.\+h.



\doxysubsection{Constructor \& Destructor Documentation}
\mbox{\Hypertarget{structTask_a26c2d4aaae7802df6c392ef1b4d38ab0}\label{structTask_a26c2d4aaae7802df6c392ef1b4d38ab0}} 
\index{Task@{Task}!Task@{Task}}
\index{Task@{Task}!Task@{Task}}
\doxysubsubsection{\texorpdfstring{Task()}{Task()}}
{\footnotesize\ttfamily Task\+::\+Task (\begin{DoxyParamCaption}\item[{std\+::string}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}



Construct a new \mbox{\hyperlink{structTask}{Task}} object. 


\begin{DoxyParams}{Parameters}
{\em name} & task name \\
\hline
\end{DoxyParams}


Definition at line 46 of file priority\+\_\+tasks.\+h.



References task\+Name.



The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
priority\+\_\+tasks.\+h\end{DoxyCompactItemize}
